Note 10 - Derivative Instruments and Hedging Activities - Derivative Financial Instruments Effects on Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2024	Sep. 30, 2023	Sep. 30, 2024	Sep. 30, 2023
Net (losses) gains recognized in AOCL	$ (669)	$ 313	$ 429	$ (196)
Net losses reclassified from AOCL to the consolidated statement of operations	588	291	1,474	1,453
Foreign Exchange Forward [Member]
Net (losses) gains recognized in AOCL	223	(385)	35	(1,837)
Net losses reclassified from AOCL to the consolidated statement of operations	(50)	(311)	(401)	(197)
Interest Rate Swap [Member]
Net (losses) gains recognized in AOCL	(892)	698	394	1,641
Net losses reclassified from AOCL to the consolidated statement of operations	$ 638	$ 602	$ 1,875	$ 1,650